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<a href="qnode_8cpp.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="qnode_8h.html">qnode.h</a>&quot;</span></div><div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;</div><div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;</div><div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment">// constructor </span></div><div class="line"><a name="l00005"></a><span class="lineno"><a class="line" href="class_q_node.html#af26ee8c152283b4a1999dc5d4bd67908">    5</a></span>&#160;<a class="code" href="class_q_node.html#af26ee8c152283b4a1999dc5d4bd67908">QNode::QNode</a>(<span class="keywordtype">int</span> argc, <span class="keywordtype">char</span>** argv, <span class="keyword">const</span> std::string &amp;name ) :</div><div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;    init_argc(argc),</div><div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;    init_argv(argv),</div><div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;    node_name(name)</div><div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;    {</div><div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;</div><div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;    <a class="code" href="class_q_node.html#a2bbe086eaeebbc5000e7cd2fd6257043">is_insert_permit</a> = <span class="keyword">false</span>;</div><div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;    header.frame_id = <span class="stringliteral">&quot;/world&quot;</span>;</div><div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;}</div><div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;</div><div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="comment">// destructor </span></div><div class="line"><a name="l00016"></a><span class="lineno"><a class="line" href="class_q_node.html#afed12669e9aed3e70721f507804778ca">   16</a></span>&#160;<a class="code" href="class_q_node.html#afed12669e9aed3e70721f507804778ca">QNode::~QNode</a>() {</div><div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;    <a class="code" href="class_q_node.html#a770568addece696138f515d38408ff5c">shutdown</a>();</div><div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;}</div><div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;</div><div class="line"><a name="l00020"></a><span class="lineno"><a class="line" href="class_q_node.html#a770568addece696138f515d38408ff5c">   20</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="class_q_node.html#a770568addece696138f515d38408ff5c">QNode::shutdown</a>() {</div><div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;    <span class="keywordflow">if</span>(ros::isStarted()) {</div><div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;      ros::shutdown(); <span class="comment">// explicitly needed since we use ros::start();</span></div><div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;      ros::waitForShutdown();</div><div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;    }</div><div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;    wait();</div><div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;}</div><div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;</div><div class="line"><a name="l00028"></a><span class="lineno"><a class="line" href="class_q_node.html#a32d00dbcf15c277e08caabf95af04f6e">   28</a></span>&#160;<span class="keywordtype">bool</span> <a class="code" href="class_q_node.html#a32d00dbcf15c277e08caabf95af04f6e">QNode::on_init</a>(){</div><div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;</div><div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;    ros::init(<a class="code" href="class_q_node.html#aa0c7569195d8b9a6e568e98097f11d52">init_argc</a>,<a class="code" href="class_q_node.html#a92c2972e3dd2a5de95d0edf8c75e1e5f">init_argv</a>,<a class="code" href="class_q_node.html#ae2a04cf101323be1e9b2be1e63a03b7f">node_name</a>);</div><div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;    <span class="keywordflow">if</span> ( ! ros::master::check() ) {</div><div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;        <span class="keywordflow">return</span> <span class="keyword">false</span>;</div><div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;    }</div><div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;    ros::start(); <span class="comment">// our node handles go out of scope, so we want to control shutdown explicitly.</span></div><div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;    <a class="code" href="class_q_node.html#a498b0376fc75702fd8b61b91ef109769">ros_comms_init</a>();</div><div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;    start();</div><div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;    <span class="keywordflow">return</span> <span class="keyword">true</span>;</div><div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;}</div><div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;</div><div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;</div><div class="line"><a name="l00041"></a><span class="lineno"><a class="line" href="class_q_node.html#a498b0376fc75702fd8b61b91ef109769">   41</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="class_q_node.html#a498b0376fc75702fd8b61b91ef109769">QNode::ros_comms_init</a>(){</div><div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;    </div><div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;    ros::NodeHandle nh(<span class="stringliteral">&quot;~&quot;</span>);</div><div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;    nh.param(<span class="stringliteral">&quot;world_frame_id&quot;</span>,header.frame_id,std::string(<span class="stringliteral">&quot;/world&quot;</span>));</div><div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;    </div><div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;    nh.param(<span class="stringliteral">&quot;waypoint_topic&quot;</span>,<a class="code" href="class_q_node.html#a978051ca9f7fc0c08a2e3b55aa87e7b7">target_wnpt_topic</a>,std::string(<span class="stringliteral">&quot;/waypoint&quot;</span>));</div><div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;    target_goal.header = header;    </div><div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;    wpnt_sub = nh.subscribe(<a class="code" href="class_q_node.html#a978051ca9f7fc0c08a2e3b55aa87e7b7">target_wnpt_topic</a>,1,&amp;<a class="code" href="class_q_node.html#a7d0604b662cbda7b970efaa08e5b855c">QNode::waypoint_cb</a>,<span class="keyword">this</span>);</div><div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;    wpnt_marker_pub = nh.advertise&lt;visualization_msgs::MarkerArray&gt;(<span class="stringliteral">&quot;waypoints_marker&quot;</span>,1);</div><div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;    spline_path_pub = nh.advertise&lt;nav_msgs::Path&gt;(<span class="stringliteral">&quot;trajectory&quot;</span>,1);</div><div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;    spline_knot_pub = nh.advertise&lt;visualization_msgs::Marker&gt;(<span class="stringliteral">&quot;trajectory_knots&quot;</span>,1);</div><div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;    target_goal_pub = nh.advertise&lt;geometry_msgs::PoseStamped&gt;(<span class="stringliteral">&quot;control_pose&quot;</span>,1);</div><div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;</div><div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;    safe_corridor_pub = nh.advertise&lt;visualization_msgs::Marker&gt;(<span class="stringliteral">&quot;safe_corridor_multi_case&quot;</span>,1);</div><div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;    safe_corridor_single_pub = nh.advertise&lt;visualization_msgs::MarkerArray&gt;(<span class="stringliteral">&quot;safe_corridor_single_case&quot;</span>,1); </div><div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;}</div><div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;</div><div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;</div><div class="line"><a name="l00059"></a><span class="lineno"><a class="line" href="class_q_node.html#af5092d0c618f01146c415c77bd025a35">   59</a></span>&#160;<span class="keywordtype">bool</span> <a class="code" href="class_q_node.html#af5092d0c618f01146c415c77bd025a35">QNode::traj_gen_call</a>(<span class="keywordtype">double</span> tf,</div><div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;                     geometry_msgs::Twist v0,</div><div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;                     geometry_msgs::Twist a0,</div><div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;                     <a class="code" href="struct_traj_gen_opts.html">TrajGenOpts</a> option){</div><div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;    </div><div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;                         </div><div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;    nav_msgs::Path waypoints;</div><div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;</div><div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;    <span class="comment">// initialize the total time </span></div><div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;    <a class="code" href="class_q_node.html#a4b5f0a40821fbb176de620cb5a3921f7">previous_elapsed</a> = 0;</div><div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;    waypoints.poses = <a class="code" href="class_q_node.html#ae7dd0fd8218c767bfa1ff5ba837cd165">queue</a>;</div><div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;    <a class="code" href="_poly_traj_gen_8h.html#a37d0493e73d8ef72a2405596ad6cee0c">TimeSeries</a> knots(<a class="code" href="class_q_node.html#ae7dd0fd8218c767bfa1ff5ba837cd165">queue</a>.size());</div><div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;    knots.setLinSpaced(<a class="code" href="class_q_node.html#ae7dd0fd8218c767bfa1ff5ba837cd165">queue</a>.size(),0,tf);</div><div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;    </div><div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;    planner.<a class="code" href="class_path_planner.html#a197058bceddd7a22cd23c74239562754">path_gen</a>(knots,waypoints,v0,a0,option);                         </div><div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;</div><div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;    <a class="code" href="class_q_node.html#ae7023e2ee0bf48734c2c2181be96abc7">is_path</a> = planner.<a class="code" href="class_path_planner.html#a58b48f13a0beefa08e584040d4e29bae">is_spline_valid</a>();</div><div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;    </div><div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;    <span class="keywordflow">if</span>(<a class="code" href="class_q_node.html#ae7023e2ee0bf48734c2c2181be96abc7">is_path</a>){</div><div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;        spline_path = planner.<a class="code" href="class_path_planner.html#a36d08d3831066c76be5195ed99fa1f68">get_path</a>();</div><div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;        spline_path.header = header;</div><div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;    }</div><div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;    </div><div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;    <span class="keywordflow">return</span> <a class="code" href="class_q_node.html#ae7023e2ee0bf48734c2c2181be96abc7">is_path</a>;</div><div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;}</div><div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;</div><div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;</div><div class="line"><a name="l00086"></a><span class="lineno"><a class="line" href="class_q_node.html#a2b816456344fcf2d809fe6ff5526b6e9">   86</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="class_q_node.html#a2b816456344fcf2d809fe6ff5526b6e9">QNode::queue_file_load</a>(<span class="keywordtype">int</span> target_idx, vector&lt;geometry_msgs::PoseStamped&gt;&amp; wpnt_replace ){</div><div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;</div><div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;    this-&gt;<a class="code" href="class_q_node.html#ae7dd0fd8218c767bfa1ff5ba837cd165">queue</a> = wpnt_replace;</div><div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;    <a class="code" href="class_q_node.html#a7fa96879efd44c15a8b03f3cdd9d665b">wpnt_markerArray</a>.markers.clear();</div><div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;    Q_EMIT <a class="code" href="class_q_node.html#a80d139522a1333db2c6ea33914c32378">writeOnBoard</a>(QString::fromStdString(<span class="stringliteral">&quot;loaded &quot;</span>+std::to_string(wpnt_replace.size())+<span class="stringliteral">&quot; pnts&quot;</span>));</div><div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;</div><div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;    </div><div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;    <span class="keywordflow">for</span>(<span class="keyword">auto</span> it = wpnt_replace.begin();it&lt;wpnt_replace.end();it++){</div><div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;        </div><div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;        visualization_msgs::Marker marker;</div><div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;</div><div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;        marker.action = 0;</div><div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;        marker.header = header;</div><div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;        marker.type = visualization_msgs::Marker::CUBE;</div><div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;        marker.pose = it-&gt;pose;</div><div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;        </div><div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;        std::cout&lt;&lt; it-&gt;pose.position.x &lt;&lt;<span class="stringliteral">&quot; , &quot;</span>&lt;&lt; it-&gt;pose.position.y &lt;&lt;<span class="stringliteral">&quot; , &quot;</span>&lt;&lt;it-&gt;pose.position.z&lt;&lt;std::endl;</div><div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;</div><div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;        <span class="keywordtype">float</span> scale = 0.1;</div><div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;        marker.scale.x = scale;</div><div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;        marker.scale.y = scale;</div><div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;        marker.scale.z = scale;</div><div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;        <span class="keywordflow">if</span>(target_idx == 0)</div><div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;            marker.color.r = 1;</div><div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;        <span class="keywordflow">else</span></div><div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;            marker.color.b = 1;</div><div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;</div><div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;        marker.color.a = 1;</div><div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;        marker.id = <a class="code" href="class_q_node.html#a7fa96879efd44c15a8b03f3cdd9d665b">wpnt_markerArray</a>.markers.size();</div><div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;        <a class="code" href="class_q_node.html#a7fa96879efd44c15a8b03f3cdd9d665b">wpnt_markerArray</a>.markers.push_back(marker);</div><div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;        </div><div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;    }</div><div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;</div><div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;} </div><div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;</div><div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;</div><div class="line"><a name="l00122"></a><span class="lineno"><a class="line" href="class_q_node.html#a7d0604b662cbda7b970efaa08e5b855c">  122</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="class_q_node.html#a7d0604b662cbda7b970efaa08e5b855c">QNode::waypoint_cb</a>(<span class="keyword">const</span> geometry_msgs::PoseStampedConstPtr &amp; pose_msg){</div><div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;    <span class="keywordflow">if</span> (<a class="code" href="class_q_node.html#a2bbe086eaeebbc5000e7cd2fd6257043">is_insert_permit</a>){</div><div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;        ROS_INFO(<span class="stringliteral">&quot;point received&quot;</span>);</div><div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;        geometry_msgs::PoseStamped pose =*pose_msg;</div><div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;        <span class="comment">// height information from qslider </span></div><div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;        <span class="keywordtype">double</span> height;</div><div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;        <span class="comment">// read value from slider </span></div><div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;        Q_EMIT <a class="code" href="class_q_node.html#a9a317b8b5e502c6eac639910c36dea3c">askSlider</a>(&amp;height);</div><div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;</div><div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;        <span class="comment">// this was added due to the delay of Qthread        </span></div><div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;        ros::Rate rate(20);</div><div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;        rate.sleep();</div><div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;</div><div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;        <span class="comment">// std::cout&lt;&lt;&quot;height: &quot;&lt;&lt;height&lt;&lt;std::endl;        </span></div><div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;        pose.pose.position.z = height;         </div><div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;        <a class="code" href="class_q_node.html#ae7dd0fd8218c767bfa1ff5ba837cd165">queue</a>.push_back(pose);</div><div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;        visualization_msgs::Marker marker;        </div><div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;        marker.action = 0;</div><div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;        marker.header = header;</div><div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;        marker.type = visualization_msgs::Marker::CUBE;</div><div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;        marker.pose = pose.pose;</div><div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;        <span class="keywordtype">float</span> scale = 0.1;</div><div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;        marker.scale.x = scale;</div><div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;        marker.scale.y = scale;</div><div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;        marker.scale.z = scale;</div><div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;        marker.color.r = 1;</div><div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;        marker.color.a = 1;</div><div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;        marker.id = <a class="code" href="class_q_node.html#ae7dd0fd8218c767bfa1ff5ba837cd165">queue</a>.size();</div><div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;        <a class="code" href="class_q_node.html#a7fa96879efd44c15a8b03f3cdd9d665b">wpnt_markerArray</a>.markers.push_back(marker);</div><div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;        </div><div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;</div><div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;</div><div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;        <span class="comment">// lets print in board  </span></div><div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;        <span class="keywordtype">string</span> line = <span class="stringliteral">&quot;recieved point: &quot;</span> </div><div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;                        + to_string(pose.pose.position.x) + <span class="stringliteral">&quot; , &quot;</span></div><div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;                        + to_string(pose.pose.position.y) + <span class="stringliteral">&quot; , &quot;</span></div><div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;                        + to_string(pose.pose.position.z);</div><div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;        </div><div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;        Q_EMIT <a class="code" href="class_q_node.html#a80d139522a1333db2c6ea33914c32378">writeOnBoard</a>(QString::fromStdString(line));</div><div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;        </div><div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;    }<span class="keywordflow">else</span>{</div><div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;         </div><div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;        Q_EMIT <a class="code" href="class_q_node.html#a80d139522a1333db2c6ea33914c32378">writeOnBoard</a>(QString::fromStdString(<span class="stringliteral">&quot;insertion not allowed&quot;</span>));</div><div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160; </div><div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;        <span class="comment">// std::cout&lt;&lt;&quot;insertion not allowed&quot;&lt;&lt;std::endl;</span></div><div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;    }</div><div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;}</div><div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;</div><div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;</div><div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;<span class="comment">// we don&#39;t have to include run explicitly in the main function</span></div><div class="line"><a name="l00172"></a><span class="lineno"><a class="line" href="class_q_node.html#ae585b201389c51a177fa5e2fde252c84">  172</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="class_q_node.html#ae585b201389c51a177fa5e2fde252c84">QNode::run</a>(){</div><div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;    ros::Rate loop_rate(50);</div><div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;</div><div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;    <span class="keywordflow">while</span>(ros::ok()){</div><div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;        <span class="comment">// the marker waypoints from user </span></div><div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;        wpnt_marker_pub.publish(<a class="code" href="class_q_node.html#a7fa96879efd44c15a8b03f3cdd9d665b">wpnt_markerArray</a>);</div><div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;        </div><div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;        safe_corridor_pub.publish(planner.<a class="code" href="class_path_planner.html#aadd23ca1fbe79abb2a6fc6983fb3f639">get_safe_corridor_marker</a>());</div><div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;        safe_corridor_single_pub.publish(planner.<a class="code" href="class_path_planner.html#a5d4db201bdb6b20bf6a9a46a15c354e2">get_safe_corridor_single_marker</a>());</div><div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;        </div><div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;        </div><div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;        <span class="keywordflow">if</span>(<a class="code" href="class_q_node.html#ae7023e2ee0bf48734c2c2181be96abc7">is_path</a>){</div><div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;        <span class="comment">// generated path  </span></div><div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;            spline_path_pub.publish(spline_path);</div><div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;            visualization_msgs::Marker knots = planner.<a class="code" href="class_path_planner.html#a5c9fd37284fa20b93f933ce53c932fc6">get_knots_marker</a>();</div><div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;            knots.header.frame_id = spline_path.header.frame_id;</div><div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;            spline_knot_pub.publish(knots);</div><div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;            </div><div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;            <span class="comment">// control point publish</span></div><div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;            <span class="keywordflow">if</span>(<a class="code" href="class_q_node.html#a6ace2d0aa89adecfe699b3f1c3ce0b0f">is_in_session</a>){</div><div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;                <span class="keywordtype">double</span> t_eval = (ros::Time::now() - <a class="code" href="class_q_node.html#a96e6599c14732ded065ae6a5b004f872">button_click_time</a>).toSec() + <a class="code" href="class_q_node.html#a4b5f0a40821fbb176de620cb5a3921f7">previous_elapsed</a>;</div><div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;                target_goal.pose.position = planner.<a class="code" href="class_path_planner.html#aa12888c52d7cb2d429c3782060b9b45e">point_eval_spline</a>(t_eval);</div><div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;                target_goal_pub.publish(target_goal);            </div><div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;            </div><div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;            }<span class="keywordflow">else</span>{</div><div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;                <span class="comment">// publish only start point  </span></div><div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;                <span class="keywordtype">double</span> t_eval = <a class="code" href="class_q_node.html#a4b5f0a40821fbb176de620cb5a3921f7">previous_elapsed</a>;</div><div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160; 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   Q_EMIT <a class="code" href="class_q_node.html#a7888b171c93c5f47334f5d2815adf445">rosShutdown</a>();</div><div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;</div><div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160;</div><div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;}</div><div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160;</div><div class="ttc" id="class_q_node_html_a32d00dbcf15c277e08caabf95af04f6e"><div class="ttname"><a href="class_q_node.html#a32d00dbcf15c277e08caabf95af04f6e">QNode::on_init</a></div><div class="ttdeci">bool on_init()</div><div class="ttdef"><b>Definition:</b> <a href="qnode_8cpp_source.html#l00028">qnode.cpp:28</a></div></div>
<div class="ttc" id="struct_traj_gen_opts_html"><div class="ttname"><a href="struct_traj_gen_opts.html">TrajGenOpts</a></div><div class="ttdef"><b>Definition:</b> <a href="_poly_traj_gen_8h_source.html#l00063">PolyTrajGen.h:63</a></div></div>
<div class="ttc" id="class_q_node_html_ae7023e2ee0bf48734c2c2181be96abc7"><div class="ttname"><a href="class_q_node.html#ae7023e2ee0bf48734c2c2181be96abc7">QNode::is_path</a></div><div class="ttdeci">bool is_path</div><div class="ttdef"><b>Definition:</b> <a href="qnode_8h_source.html#l00062">qnode.h:62</a></div></div>
<div class="ttc" id="class_q_node_html_a978051ca9f7fc0c08a2e3b55aa87e7b7"><div class="ttname"><a href="class_q_node.html#a978051ca9f7fc0c08a2e3b55aa87e7b7">QNode::target_wnpt_topic</a></div><div class="ttdeci">std::string target_wnpt_topic</div><div class="ttdef"><b>Definition:</b> <a href="qnode_8h_source.html#l00088">qnode.h:88</a></div></div>
<div class="ttc" id="class_q_node_html_af26ee8c152283b4a1999dc5d4bd67908"><div class="ttname"><a href="class_q_node.html#af26ee8c152283b4a1999dc5d4bd67908">QNode::QNode</a></div><div class="ttdeci">QNode(int argc, char **argv, const std::string &amp;name)</div><div class="ttdef"><b>Definition:</b> <a href="qnode_8cpp_source.html#l00005">qnode.cpp:5</a></div></div>
<div class="ttc" id="class_path_planner_html_a197058bceddd7a22cd23c74239562754"><div class="ttname"><a href="class_path_planner.html#a197058bceddd7a22cd23c74239562754">PathPlanner::path_gen</a></div><div class="ttdeci">void path_gen(const TimeSeries &amp;knots, const nav_msgs::Path &amp;waypoints, const geometry_msgs::Twist &amp;v0, const geometry_msgs::Twist &amp;a0, TrajGenOpts opt)</div><div class="ttdef"><b>Definition:</b> <a href="_poly_traj_gen_8cpp_source.html#l00054">PolyTrajGen.cpp:54</a></div></div>
<div class="ttc" id="class_q_node_html_a96e6599c14732ded065ae6a5b004f872"><div class="ttname"><a href="class_q_node.html#a96e6599c14732ded065ae6a5b004f872">QNode::button_click_time</a></div><div class="ttdeci">ros::Time button_click_time</div><div class="ttdef"><b>Definition:</b> <a href="qnode_8h_source.html#l00068">qnode.h:68</a></div></div>
<div class="ttc" id="class_q_node_html_ae2a04cf101323be1e9b2be1e63a03b7f"><div class="ttname"><a href="class_q_node.html#ae2a04cf101323be1e9b2be1e63a03b7f">QNode::node_name</a></div><div class="ttdeci">const std::string node_name</div><div class="ttdef"><b>Definition:</b> <a href="qnode_8h_source.html#l00087">qnode.h:87</a></div></div>
<div class="ttc" id="class_q_node_html_afed12669e9aed3e70721f507804778ca"><div class="ttname"><a href="class_q_node.html#afed12669e9aed3e70721f507804778ca">QNode::~QNode</a></div><div class="ttdeci">~QNode()</div><div class="ttdef"><b>Definition:</b> <a href="qnode_8cpp_source.html#l00016">qnode.cpp:16</a></div></div>
<div class="ttc" id="class_q_node_html_a7fa96879efd44c15a8b03f3cdd9d665b"><div class="ttname"><a href="class_q_node.html#a7fa96879efd44c15a8b03f3cdd9d665b">QNode::wpnt_markerArray</a></div><div class="ttdeci">visualization_msgs::MarkerArray wpnt_markerArray</div><div class="ttdef"><b>Definition:</b> <a href="qnode_8h_source.html#l00055">qnode.h:55</a></div></div>
<div class="ttc" id="class_q_node_html_a2bbe086eaeebbc5000e7cd2fd6257043"><div class="ttname"><a href="class_q_node.html#a2bbe086eaeebbc5000e7cd2fd6257043">QNode::is_insert_permit</a></div><div class="ttdeci">bool is_insert_permit</div><div class="ttdef"><b>Definition:</b> <a href="qnode_8h_source.html#l00059">qnode.h:59</a></div></div>
<div class="ttc" id="class_path_planner_html_aadd23ca1fbe79abb2a6fc6983fb3f639"><div class="ttname"><a href="class_path_planner.html#aadd23ca1fbe79abb2a6fc6983fb3f639">PathPlanner::get_safe_corridor_marker</a></div><div class="ttdeci">visualization_msgs::Marker get_safe_corridor_marker()</div><div class="ttdef"><b>Definition:</b> <a href="_poly_traj_gen_8h_source.html#l00131">PolyTrajGen.h:131</a></div></div>
<div class="ttc" id="class_q_node_html_aa0c7569195d8b9a6e568e98097f11d52"><div class="ttname"><a href="class_q_node.html#aa0c7569195d8b9a6e568e98097f11d52">QNode::init_argc</a></div><div class="ttdeci">int init_argc</div><div class="ttdef"><b>Definition:</b> <a href="qnode_8h_source.html#l00084">qnode.h:84</a></div></div>
<div class="ttc" id="class_q_node_html_ae7dd0fd8218c767bfa1ff5ba837cd165"><div class="ttname"><a href="class_q_node.html#ae7dd0fd8218c767bfa1ff5ba837cd165">QNode::queue</a></div><div class="ttdeci">std::vector&lt; geometry_msgs::PoseStamped &gt; queue</div><div class="ttdef"><b>Definition:</b> <a href="qnode_8h_source.html#l00054">qnode.h:54</a></div></div>
<div class="ttc" id="class_q_node_html_a9a317b8b5e502c6eac639910c36dea3c"><div class="ttname"><a href="class_q_node.html#a9a317b8b5e502c6eac639910c36dea3c">QNode::askSlider</a></div><div class="ttdeci">void askSlider(double *height)</div></div>
<div class="ttc" id="class_path_planner_html_a58b48f13a0beefa08e584040d4e29bae"><div class="ttname"><a href="class_path_planner.html#a58b48f13a0beefa08e584040d4e29bae">PathPlanner::is_spline_valid</a></div><div class="ttdeci">bool is_spline_valid()</div><div class="ttdef"><b>Definition:</b> <a href="_poly_traj_gen_8h_source.html#l00123">PolyTrajGen.h:123</a></div></div>
<div class="ttc" id="class_path_planner_html_a5c9fd37284fa20b93f933ce53c932fc6"><div class="ttname"><a href="class_path_planner.html#a5c9fd37284fa20b93f933ce53c932fc6">PathPlanner::get_knots_marker</a></div><div class="ttdeci">visualization_msgs::Marker get_knots_marker()</div><div class="ttdef"><b>Definition:</b> <a href="_poly_traj_gen_8cpp_source.html#l00703">PolyTrajGen.cpp:703</a></div></div>
<div class="ttc" id="class_path_planner_html_aa12888c52d7cb2d429c3782060b9b45e"><div class="ttname"><a href="class_path_planner.html#aa12888c52d7cb2d429c3782060b9b45e">PathPlanner::point_eval_spline</a></div><div class="ttdeci">Point point_eval_spline(double t_eval)</div><div class="ttdef"><b>Definition:</b> <a href="_poly_traj_gen_8cpp_source.html#l00491">PolyTrajGen.cpp:491</a></div></div>
<div class="ttc" id="qnode_8h_html"><div class="ttname"><a href="qnode_8h.html">qnode.h</a></div></div>
<div class="ttc" id="class_q_node_html_a7888b171c93c5f47334f5d2815adf445"><div class="ttname"><a href="class_q_node.html#a7888b171c93c5f47334f5d2815adf445">QNode::rosShutdown</a></div><div class="ttdeci">void rosShutdown()</div><div class="ttdef"><b>Definition:</b> <a href="moc__qnode_8cxx_source.html#l00105">moc_qnode.cxx:105</a></div></div>
<div class="ttc" id="class_path_planner_html_a5d4db201bdb6b20bf6a9a46a15c354e2"><div class="ttname"><a href="class_path_planner.html#a5d4db201bdb6b20bf6a9a46a15c354e2">PathPlanner::get_safe_corridor_single_marker</a></div><div class="ttdeci">visualization_msgs::MarkerArray get_safe_corridor_single_marker()</div><div class="ttdef"><b>Definition:</b> <a href="_poly_traj_gen_8h_source.html#l00132">PolyTrajGen.h:132</a></div></div>
<div class="ttc" id="class_q_node_html_a498b0376fc75702fd8b61b91ef109769"><div class="ttname"><a href="class_q_node.html#a498b0376fc75702fd8b61b91ef109769">QNode::ros_comms_init</a></div><div class="ttdeci">void ros_comms_init()</div><div class="ttdef"><b>Definition:</b> <a href="qnode_8cpp_source.html#l00041">qnode.cpp:41</a></div></div>
<div class="ttc" id="_poly_traj_gen_8h_html_a37d0493e73d8ef72a2405596ad6cee0c"><div class="ttname"><a href="_poly_traj_gen_8h.html#a37d0493e73d8ef72a2405596ad6cee0c">TimeSeries</a></div><div class="ttdeci">VectorXd TimeSeries</div><div class="ttdef"><b>Definition:</b> <a href="_poly_traj_gen_8h_source.html#l00030">PolyTrajGen.h:30</a></div></div>
<div class="ttc" id="class_path_planner_html_a36d08d3831066c76be5195ed99fa1f68"><div class="ttname"><a href="class_path_planner.html#a36d08d3831066c76be5195ed99fa1f68">PathPlanner::get_path</a></div><div class="ttdeci">nav_msgs::Path get_path()</div><div class="ttdef"><b>Definition:</b> <a href="_poly_traj_gen_8h_source.html#l00127">PolyTrajGen.h:127</a></div></div>
<div class="ttc" id="class_q_node_html_a6ace2d0aa89adecfe699b3f1c3ce0b0f"><div class="ttname"><a href="class_q_node.html#a6ace2d0aa89adecfe699b3f1c3ce0b0f">QNode::is_in_session</a></div><div class="ttdeci">bool is_in_session</div><div class="ttdef"><b>Definition:</b> <a href="qnode_8h_source.html#l00060">qnode.h:60</a></div></div>
<div class="ttc" id="class_q_node_html_a7d0604b662cbda7b970efaa08e5b855c"><div class="ttname"><a href="class_q_node.html#a7d0604b662cbda7b970efaa08e5b855c">QNode::waypoint_cb</a></div><div class="ttdeci">void waypoint_cb(const geometry_msgs::PoseStampedConstPtr &amp;)</div><div class="ttdef"><b>Definition:</b> <a href="qnode_8cpp_source.html#l00122">qnode.cpp:122</a></div></div>
<div class="ttc" id="class_q_node_html_a92c2972e3dd2a5de95d0edf8c75e1e5f"><div class="ttname"><a href="class_q_node.html#a92c2972e3dd2a5de95d0edf8c75e1e5f">QNode::init_argv</a></div><div class="ttdeci">char ** init_argv</div><div class="ttdef"><b>Definition:</b> <a href="qnode_8h_source.html#l00085">qnode.h:85</a></div></div>
<div class="ttc" id="class_q_node_html_af5092d0c618f01146c415c77bd025a35"><div class="ttname"><a href="class_q_node.html#af5092d0c618f01146c415c77bd025a35">QNode::traj_gen_call</a></div><div class="ttdeci">bool traj_gen_call(double tf, geometry_msgs::Twist v0, geometry_msgs::Twist a0, TrajGenOpts option)</div><div class="ttdef"><b>Definition:</b> <a href="qnode_8cpp_source.html#l00059">qnode.cpp:59</a></div></div>
<div class="ttc" id="class_q_node_html_a4b5f0a40821fbb176de620cb5a3921f7"><div class="ttname"><a href="class_q_node.html#a4b5f0a40821fbb176de620cb5a3921f7">QNode::previous_elapsed</a></div><div class="ttdeci">double previous_elapsed</div><div class="ttdef"><b>Definition:</b> <a href="qnode_8h_source.html#l00066">qnode.h:66</a></div></div>
<div class="ttc" id="class_q_node_html_a2b816456344fcf2d809fe6ff5526b6e9"><div class="ttname"><a href="class_q_node.html#a2b816456344fcf2d809fe6ff5526b6e9">QNode::queue_file_load</a></div><div class="ttdeci">void queue_file_load(int, vector&lt; geometry_msgs::PoseStamped &gt; &amp;)</div><div class="ttdef"><b>Definition:</b> <a href="qnode_8cpp_source.html#l00086">qnode.cpp:86</a></div></div>
<div class="ttc" id="class_q_node_html_a80d139522a1333db2c6ea33914c32378"><div class="ttname"><a href="class_q_node.html#a80d139522a1333db2c6ea33914c32378">QNode::writeOnBoard</a></div><div class="ttdeci">void writeOnBoard(QString)</div><div class="ttdef"><b>Definition:</b> <a href="moc__qnode_8cxx_source.html#l00111">moc_qnode.cxx:111</a></div></div>
<div class="ttc" id="class_q_node_html_ae585b201389c51a177fa5e2fde252c84"><div class="ttname"><a href="class_q_node.html#ae585b201389c51a177fa5e2fde252c84">QNode::run</a></div><div class="ttdeci">void run()</div><div class="ttdef"><b>Definition:</b> <a href="qnode_8cpp_source.html#l00172">qnode.cpp:172</a></div></div>
<div class="ttc" id="class_q_node_html_a770568addece696138f515d38408ff5c"><div class="ttname"><a href="class_q_node.html#a770568addece696138f515d38408ff5c">QNode::shutdown</a></div><div class="ttdeci">void shutdown()</div><div class="ttdef"><b>Definition:</b> <a href="qnode_8cpp_source.html#l00020">qnode.cpp:20</a></div></div>
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